Systems and methods for warehouse environment speed zone management

ABSTRACT

Systems and methods for a materials handling vehicle configured to navigate along a warehouse environment inventory transit surface, the vehicle including control architecture in communication with a drive mechanism, a materials handling mechanism, a speed zone sensing subsystem configured to provide an indication of whether the vehicle is in a speed zone, and a speed control processor configured to prompt the operator to reduce a vehicle speed of the vehicle to under a speed zone limit when the vehicle speed is approaching or in the speed zone, determine whether the vehicle speed is under the speed zone limit in the speed zone, and apply a speed cap to limit a maximum vehicle speed of the vehicle to a magnitude that is at or below the speed zone limit when the speed control processor has determined that the vehicle speed is under the speed zone limit in the speed zone.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/527,857, filed Jul. 31, 2019, which claims the benefit of U.S.Provisional Application Ser. No. 62/713,224 (CRNZ 1813 MA), entitled“SYSTEMS AND METHODS FOR INDUSTRIAL ENVIRONMENT SPEED ZONE MANAGEMENT,”filed Aug. 1, 2018, the entirety of which is incorporated by referenceherein.

TECHNICAL FIELD

The present specification generally relates to systems and methods forusing the location of industrial vehicles to assist with managingvehicle operation within a defined area in a warehouse environment and,more specifically, to systems and methods for utilization of a vehiclelocation to notify an operator of operational constraints on entering azone and, when the operator changes the operation of the vehicle withindefined operational constraints, limiting the vehicle operation toremain within those operational constraints.

BACKGROUND

In order to move items about an industrial environment, workers oftenutilize industrial vehicles, including for example, forklift trucks,hand and motor driven pallet trucks, and/or other materials handlingvehicles. The industrial vehicles can be configured as an automatedguided vehicle that navigates through the industrial environment or amanually guided vehicle that knows its location within the industrialenvironment. In order to facilitate automated guidance, navigation, orboth, the industrial vehicle may be adapted for localization within theenvironment. That is the industrial vehicle can be adapted with sensorsand processors for determining the location of the industrial vehiclewithin the environment such as, for example, pose and position of theindustrial vehicle.

SUMMARY

According to the subject matter of the present disclosure, a materialshandling vehicle configured to navigate along an inventory transitsurface in a warehouse environment comprises a speed control processor,a speed zone sensing subsystem, a materials handling mechanismconfigured to engage goods in the warehouse environment, a drivemechanism configured to move the materials handling vehicle along theinventory transit surface, and vehicle control architecture incommunication with the drive mechanism, the materials handlingmechanism, the speed zone sensing subsystem, and the speed controlprocessor. The speed zone sensing subsystem is configured to provide anindication of whether the materials handling vehicle is in a speed zone.The speed control processor is configured to prompt a vehicle operatorto reduce a vehicle speed of the materials handling vehicle to under aspeed zone limit when the materials handling vehicle speed isapproaching or in the speed zone, determine whether the vehicle speed isunder the speed zone limit in the speed zone, and apply a vehicle speedcap to limit a maximum vehicle speed of the materials handling vehicleto a magnitude that is at or below the speed zone limit when the speedcontrol processor has determined that the vehicle speed is under thespeed zone limit in the speed zone.

In accordance with one embodiment of the present disclosure, a materialshandling vehicle configured to navigate along an inventory transitsurface in a warehouse environment comprises a speed control processor,a speed zone sensing subsystem comprising one or more truck-basedsensors, a materials handling mechanism configured to engage goods inthe warehouse environment, a drive mechanism configured to move thematerials handling vehicle along the inventory transit surface, andvehicle control architecture in communication with the drive mechanism,the materials handling mechanism, the speed zone sensing subsystem, andthe speed control processor. The speed zone sensing subsystem isconfigured to provide an indication of whether the materials handlingvehicle is in a speed zone, and the one or more truck-based sensors areconfigured (i) to detect active or passive speed zone tags, (ii) forenvironmentally-based sensing of the speed zone, or (iii) both. Thespeed control processor is configured to prompt a vehicle operator toreduce a vehicle speed of the materials handling vehicle to under aspeed zone limit when the materials handling vehicle speed isapproaching or in the speed zone, determine whether the vehicle speed isunder the speed zone limit in the speed zone, and apply a vehicle speedcap to limit a maximum vehicle speed of the materials handling vehicleto a magnitude that is at or below the speed zone limit when the speedcontrol processor has determined that the vehicle speed is under thespeed zone limit in the speed zone,

In accordance with another embodiment of the present disclosure, amaterials handling vehicle configured to navigate along an inventorytransit surface in a warehouse environment comprises an operationcontrol processor, a restricted zone sensing subsystem, a materialshandling mechanism configured to engage goods in the warehouseenvironment, a drive mechanism configured to move the materials handlingvehicle along the inventory transit surface, and vehicle controlarchitecture in communication with the drive mechanism, the materialshandling mechanism, the restricted zone sensing subsystem, and theoperation control processor. The restricted zone sensing subsystem isconfigured to provide an indication of whether the materials handlingvehicle is in a restricted operation zone. The operation controlprocessor is configured to prompt a vehicle operator to reduce anoperation of the materials handling vehicle to under an operation limitwhen the materials handling vehicle speed is approaching or in therestricted operation zone, determine whether the operation is under theoperation limit in the restricted operation zone, and apply an operationcap to limit a maximum operation value of the materials handling vehicleto a magnitude that is at or below the operation limit when theoperation control processor has determined that the operation is underthe operation limit in the restricted operation zone.

These and additional features provided by the embodiments describedherein will be more fully understood in view of the following detaileddescription, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The embodiments set firth in the drawings are illustrative and exemplaryin nature and not intended to limit the subject matter defined by theclaims. The following detailed description of the illustrativeembodiments can be understood when read in conjunction with thefollowing drawings, where like structure is indicated with likereference numerals and in which:

FIG. 1A depicts a materials handling vehicle in a speed zone of awarehouse, according to one or more embodiments shown and describedherein;

FIG. 1B depicts a schematic plan view of a warehouse environmentutilizing tag reading technology and including one or more speed zones,according to one or more embodiments shown and described herein;

FIG. 2 depicts a schematic illustration of a system for implementingcomputer and software based methods to manage speed in a speed zone ofFIGS. 1A-1B, according to one or more embodiments shown and describedherein;

FIG. 3 depicts a flowchart overview of a method for speed zonemanagement in a warehouse environment according to one or moreembodiments shown and described herein.

DETAILED DESCRIPTION

The embodiments described herein generally relate to use of localizationtechniques to determine and assist with managing vehicle presence inspeed zones in a warehouse environment as described herein. Localizationis utilized herein to refer to any of a variety of system configurationsthat enable active tracking of a vehicle location in a warehouse,industrial or commercial facility, or other environment. For thepurposes of defining and describing the concepts and scope of thepresent disclosure, it is noted that a “warehouse” encompasses anyindoor or outdoor industrial facility in which materials handlingvehicles transport goods including, but not limited to, indoor oroutdoor industrial facilities that are intended primarily the storage ofgoods, such as those where multi-level racks are arranged in aisles, andmanufacturing facilities where goods are transported about the facilityby materials handling vehicles for use in one or more manufacturingprocesses. The concepts of the present disclosure are not limited to anyparticular localization system configuration and are deemed to beapplicable to any of a variety of conventional and yet-to-be developedlocalization systems. Such localization systems may include thosedescribed in U.S. Pat. No. 9,349,181 issued on May 24, 2016, entitledLOST VEHICLE RECOVERY UTILIZING ASSOCIATED FEATURE PAIRS, and U.S. Pat.No. 9,984,467 issued May 29, 2018, entitled VEHICLE POSITIONING ORNAVIGATION UTILIZING ASSOCIATED FEATURE PAIRS.

The localization systems may be used to localize and/or navigate anindustrial vehicle through a warehouse environment, such as a warehouse,stock yard, or the like. In some embodiments, a camera and/or laserbased system can be mounted to an industrial vehicle (e.g., automatedguided vehicle or a manually guided vehicle) that navigates through awarehouse and can assist with vehicle localization. The laser basedsystem may include a laser scanner, a laser rangefinder, a 2D/3D mappinglaser, a lidar, or combinations thereof.

Referring now to FIG. 1 , a materials handling vehicle 100 can beconfigured to navigate along an inventory transit surface 122 through anindustrial facility such as a warehouse 110 in a warehouse environment150. The materials handling vehicle 100 can comprise a drive mechanism128 configured to move the materials handling vehicle 100 along aninventory transit surface 122, a materials handling mechanism 20configured to engage goods in the warehouse environment 150, and vehiclecontrol architecture in communication with the drive and materialshandling mechanisms. The materials handling vehicle 100 can alsocomprise a speed control processor 104 and a speed zone sensingsubsystem 106, and the vehicle control architecture may be incommunication with the drive mechanism 12$, the materials handlingmechanism 20, the speed zone sensing subsystem 106, and the speedcontrol processor 104. The vehicle control architecture may beconfigured to track the navigation of the materials handling vehicle 100along the inventory transit surface 122, navigate the materials handlingvehicle 100 along the inventory transit surface 122 in at least apartially automated manner, or both, using a localized vehicle positionof the materials handling vehicle 100. The materials handling vehicle100 can comprise an industrial vehicle such as one for lifting andmoving a payload such as, for example, a forklift truck, a reach truck,a turret truck, a walkie stacker truck, a tow tractor, a pallet truck, ahigh/low, a stacker-truck, trailer loader, a sideloader, a fork hoist,or the like. The industrial vehicle can be configured to automaticallyor manually navigate an inventory transit surface such as an inventorytransit surface 122 of the warehouse 110 along a desired path.Accordingly, the materials handling vehicle 100 can be directed forwardsand backwards by rotation of one or more wheels 124. Additionally, thematerials handling vehicle 100 can be caused to change direction bysteering the one or more wheels 124. Optionally, the vehicle cancomprise operator controls 126 for controlling functions of the vehiclesuch as, but not limited to, the speed of the wheels 124, theorientation of the wheels 124, or the like. The operator controls 126can comprise controls that are assigned to functions of the materialshandling vehicle 100 such as, for example, switches, buttons, levers,handles, pedals, input/output device, or the like. It is noted that theterm “navigate” as used herein means movement control or route planningof a vehicle from one place to another including, but not limited to,plotting a graphical path for a manual vehicle operation, providing aset of turn by turn instructions for manual operation, or providing anautomated control guiding the vehicle along a travel path that mayinclude such turn by turn instructions for automated operation.

The materials handling vehicle 100 can further comprise a localizationsensor 102′ that may be a camera 102 and/or laser based system that mayinclude a laser scanner, a laser rangefinder, a 2D/3D mapping laser, alidar, or combinations thereof. For example, the materials handlingvehicle 100 can further comprise a camera 102 as the localization sensor102′ for capturing overhead images such as input images of overheadfeatures. The camera 102 can be any device capable of capturing thevisual appearance of an object and transforming the visual appearanceinto an image. In some embodiments, the materials handling vehicle 100can be located within the warehouse 110 and be configured to captureoverhead images of the ceiling 112 of the warehouse 110.

The ceiling 112 of the warehouse 110 can comprise overhead features suchas, but not limited to, ceiling lights 114 for providing illuminationfrom the ceiling 112 or generally from above a vehicle operating in thewarehouse. The ceiling lights 114 can comprise substantially rectangularlights such as, for example, skylights 116, fluorescent lights, or thelike; and may be mounted in or suspended from the ceiling or wallstructures so as to provide illumination from above.

The embodiments described herein can comprise one or more vehicularprocessors such as processors 202 (FIG. 2 ) as described in greaterdetail below, which include a speed control processor 104 (FIG. 1A)communicatively coupled to the materials handling vehicle 100 along withthe speed zone sensing subsystem 106. The speed zone sensing subsystem106 is configured to provide an indication of whether the materialshandling vehicle is in a speed zone Z. In embodiments, the speed zonesensing subsystem 106 is configured to provide an indication of whetherthe materials handling vehicle 100 is in the speed zone Z of a pluralityof speed zones in a warehouse environment, each speed zone comprising aspeed zone limit from a plurality of speed zone limits, and at least onespeed zone limit is different from another speed zone limit of theplurality of speed zone limits. The one or more processors 202 canexecute machine readable instructions to implement any of the methods orfunctions described herein automatically. Memory 217 (FIG. 2 ) forstoring machine readable instructions can be communicatively coupled tothe one or more processors 202, the materials handling vehicle 100, orany combination thereof. The one or more processors 202 can comprise aprocessor, an integrated circuit, a microchip, a computer, or any othercomputing device capable of executing machine readable instructions orthat has been configured to execute functions in a manner analogous tomachine readable instructions. The memory 217 can comprise RAM, ROM, aflash memory, a hard drive, or any non-transitory device capable ofstoring machine readable instructions.

The one or more processors 202 (such as the speed control processor 104,the speed zone sensing subsystem 106, and the controller for operatorcontrols 126) and the memory 217 may be integral with the materialshandling vehicle 100. Moreover, each of the one or more processors 202and the memory 217 can be separated from the materials handling vehicle100 and/or the camera 102. For example, a management server, server, ora mobile computing device can comprise the one or more processors 202,the memory 217, or both. It is noted that the one or more processors202, the memory 217, and the camera 102 may be discrete componentscommunicatively coupled with one another without departing from thescope of the present disclosure. Accordingly, in some embodiments,components of the one or more processors 202, components of the memory217, and components of the camera 102 can be physically separated fromone another. The phrase “communicatively coupled,” as used herein, meansthat components are capable of exchanging data signals with one anothersuch as, for example, electrical signals via conductive medium,electromagnetic signals via air, optical signals via optical waveguides,or the like.

Thus, embodiments of the present disclosure may comprise logic or analgorithm written in any programming language of any generation (e.g.,1GL, 2GL, 3GL, 4GL, or 5GL). The logic or an algorithm can be written asmachine language that may be directly executed by the processor, orassembly language, object-oriented programming (OOP), scriptinglanguages, microcode, etc., that may be compiled or assembled intomachine readable instructions and stored on a machine readable medium.Alternatively or additionally, the logic or algorithm may be written ina hardware description language (HDL). Further, the logic or algorithmcan be implemented via either a field-programmable gate array (FPGA)configuration or an application-specific integrated circuit (ASIC), ortheir equivalents.

As is noted above, the materials handling vehicle 100 can comprise or becommunicatively coupled with the one or more processors 202.Accordingly, the one or more processors 202 can execute machine readableinstructions to operate or replace the function of the operator controls126. The machine readable instructions can be stored upon the memory217. Accordingly, in some embodiments, the materials handling vehicle100 can be navigated automatically by the one or more processors 202executing the machine readable instructions. In some embodiments, thelocation of the vehicle can be monitored by the localization system asthe materials handling vehicle 100 is navigated.

For example, the materials handling vehicle 100 can automaticallynavigate along the inventory transit surface 122 of the warehouse 110along a desired path to a desired position based upon a localizedposition of the materials handling vehicle 100. In some embodiments, thematerials handling vehicle 100 can determine the localized position ofthe materials handling vehicle 100 with respect to the warehouse 110.The determination of the localized position of the materials handlingvehicle 100 can be performed by comparing image data to map data. Themap data can be stored locally in the memory 217, which can be updatedperiodically, or map data provided by a server or the like. Inembodiments, an industrial facility map comprises a plurality of speedzones Z of the warehouse 110. Given the localized position and thedesired position, a travel path can be determined for the materialshandling vehicle 100. Once the travel path is known, the materialshandling vehicle 100 can travel along the travel path to navigate theinventory transit surface 122 of the warehouse 110 crossing one or moreof the speed zones Z. Specifically, the one or more processors 202 canexecute machine readable instructions to perform localization systemfunctions and operate the materials handling vehicle 100. In oneembodiment, the one or more processors 202 can adjust the steering ofthe wheels 124 and control the throttle to cause the materials handlingvehicle 100 to navigate the inventory transit surface 122. In anotherembodiment, the operator may control steering of the wheels 124 andnavigation of the materials handling vehicle 100 on the inventorytransit surface 122 through use of the operator controls 126, Theinventory transit surface 122 may include one or more speed zones Z, aswill be described in greater detail below.

Referring to FIGS. 1A-1B, the materials handling vehicle 100 can beconfigured to navigate through a warehouse environment 150 (FIG. 1B)such as the warehouse 110. The industrial vehicle can be configured toautomatically or manually navigate an inventory transit surface such asan inventory transit surface 122 of the warehouse 110 along a desiredpath.

The localization systems may be used to localize and/or navigate anindustrial vehicle through a warehouse environment 150 (FIG. 1B), whichmay be a warehouse, stock yard, or the like. The warehouse 110 mayinclude components 410 that may be, but are not limited to, a pluralityof racks 400 including a plurality of shelves. In embodiments, theplurality of shelves may define a boundary of one or more aisle paths70. The aisle or portions of the aisle may be defined by at least onerack 400 and an opposite defining component 410 such as, but not limitedto, one or more pallet stacks, a mezzanine, a virtually defined aisleboundary, or the like.

Referring to FIG. 113 , the warehouse environment 150, which may be thewarehouse 110 (FIG. 1A), may include a rack 400 and/or tag readingtechnology associated with path defining components 410 such as palletsand/or racks 400. The tag reading technology may include, for example, atag layout 50 in a single aisle path 70, an example of which isdescribed in U.S. Pat. No. 9,811,088 assigned to Crown EquipmentCorporation. The tag layout 50 can be constructed to comprise individualtags, such as radio frequency identification (RFID) tags, that arepositioned such that, the materials handling vehicle 100 will operateunder a defined set of vehicle functionality (e.g., vehicle functiondata) and/or tag-dependent position data that will endure until thematerials handling vehicle 100 identifies another individual tag of thetag layout 50 with a new correlation of vehicle functionality.

In operation, the tag layout 50 may be utilized with respect to a tagreader and a reader module of the materials handling vehicle 100,examples of which are also described in U.S. Pat. No. 9,811,088 assignedto Crown Equipment Corporation and incorporated by reference herein inits entirety. The reader module may include a reader memory coupled to areader processor. The tag reader and the reader module may cooperate toidentify individual tags of a tag layout 50. Each individual tag of thetag layout 50 may correspond to a unique identification code associatedwith an individual tag at the beginning of the aisle path 70, forexample. The individual tags comprise a plurality of zone identificationtags 55 and a plurality of zone tags 60. Each zone identification tag 55occupies a position in the tag layout 50) that corresponds to a uniqueset of zone tags 65 that each comprise a plurality of zone tags 60. Inone embodiment, each unique set of zone tags 65 comprises a plurality ofzone tags 60, one or more function tags 101, one or more aisle extensiontags 170, one or more aisle entry tags 75, or combinations thereof. Forexample, and not by way of limitation, respective zone tags 60 of theunique set of zone tags 65 that are the furthest from a midpoint 120 ofthe aisle path 70 may comprise both vehicle functionality andend-of-aisle vehicle functionality.

The one or more speed zones Z or FIG. 1A may be, for example, one ormore speed zones Z1, Z2, Z3, and Z4 of FIG. 1B. One or more aisle paths70 may comprise an in-aisle speed zone Z2 and/or an end of aisle speedzone Z3, while the warehouse environment 150 may include one or moreout-of-aisle speed zones 71, 74. The speed zone Z4 may be, for example,a speed zone disposed through a door area 151 separating a warehouseenvironment section 150A from another warehouse environment section150B. The in-aisle speed zones Z2 may be speed zones as described inU.S. Pat. No. 9,811,088 assigned to Crown Equipment Corporation, as setforth above. As a non-limiting example, a display device of thematerials handling vehicle 100 (FIG. 1A) may display “Speed Zone” andgenerate an audible tone or provide other alerts to indicate that thematerials handling vehicle 100 is entering one or more speed zones Z atthe current location of the materials handling vehicle 100 if a user isat the controls of the materials handling vehicle 100, as described ingreater detail below with respect to a process 300 (FIG. 3 ).

As a non-limiting example, the individual tags of the tag layout 50 maycomprise a plurality of aisle entry tags 75 that are positioned along anaisle path 70 between vehicle entry or vehicle exit portions 80 of theaisle path 70. The reader module on the materials handling vehicle 100may discriminate between the aisle entry tags 75 and the individual tagsof the tag layout 50 along the aisle path 70 and correlate end-of-aislevehicle functionality with an identified aisle entry tag 75. A vehiclecontroller may control operational functions of the industrial vehiclehardware of the materials handling vehicle 100 in response to thecorrelation of end-of-aisle vehicle functionality with an identifiedaisle entry tag 75. In this manner, a tag layout 50 can be constructedto comprise aisle entry tags 75 that are positioned within an aisle path70 such that particular end-of-aisle vehicle functionality can beimplemented as an industrial vehicle 10, traveling within an aisle path70, approaches the vehicle entry or vehicle exit portion 80 of the aislepath 70. An exit portion distance is a quantity of length measuredbetween a current position of the materials handling vehicle 100 and theend point 85 of respective aisle paths 70.

The reader module may discriminate between an outer end-cap tag 103 andan inner end-cap tag 105 of the end-cap pair 115 and correlate anidentified outer end-cap tag 103 with exit-specific vehiclefunctionality and correlate an identified inner end-cap tag 105 withentry-specific vehicle functionality. In one embodiment, the tag layout50 may comprise one or more end-cap rows 117 which comprise a pluralityof end-cap pairs 115. The one or more end-cap rows 117 are spaced acrossrespective end points 85 of an aisle path 70 such that an industrialvehicle entering or exiting the aisle path 70 will identify theindividual tags of the end-cap row 117 regardless of where the materialshandling vehicle 100 crosses the end-cap row 117 within the vehicleentry or vehicle exit portion 80 of the aisle path 70. The rack 400 maybe a multilevel rack in defining a portion of the aisle path 70 in avery narrow aisle (VNA) warehouse.

Referring to FIG. 2 , the embodiments described herein can comprise asystem 200 including one or more vehicular processors such as processors202 such as the speed control processor 104 and vehicle controlarchitecture that may be communicatively coupled to a memory 217. Anetwork interface hardware 212 may facilitate communications over anetwork 214 via wires, a wide area network, a local area network, apersonal area network, a cellular network, a satellite network, and thelike. Suitable personal area networks may include wireless technologiessuch as, for example, IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee,and/or other near field communication protocols. Suitable personal areanetworks may similarly include wired computer buses such as, forexample, USB and FireWire. Suitable cellular networks include, but arenot limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM.The network interface hardware 212 can be communicatively coupled to anydevice capable of transmitting and/or receiving data via the network214. Accordingly, the network interface hardware 212 can include acommunication transceiver for sending and/or receiving any wired orwireless communication. For example, the network interface hardware 212may include an antenna, a modem, LAN port, Wi-Fi card, WiMax card,mobile communications hardware, near-field communication hardware,satellite communication hardware and/or any wired or wireless hardwarefor communicating with other networks and/or devices.

The one or more processors 202 can execute machine readable instructionsto implement any of the methods or functions described hereinautomatically. Memory 217 as at least one of non-volatile memory 208 orvolatile memory 210 in a computer readable medium 216 for storingmachine readable instructions can be communicatively coupled to the oneor more processors 202. The one or more processors 202 can comprise aprocessor, all integrated circuit, a microchip, a computer, or any othercomputing device capable of executing machine readable instructions orthat has been configured to execute functions in a manner analogous tomachine readable instructions. The computer readable medium 216 cancomprise RAM, ROM, a flash memory, a hard drive, or any non-transitorydevice capable of storing machine readable instructions.

Each of the one or more processors 202 and the memory 217 can beintegral with the materials handling vehicle 100. Moreover, each of theone or more processors 202 and the memory 217 can be separated from thematerials handling vehicle 100. For example, a management server,server, or a mobile computing device can comprise the one or moreprocessors 202, the memory 217, or both. It is noted that the one ormore processors 202 and the memory 217 may be discrete componentscommunicatively coupled with one another without departing from thescope of the present disclosure. Accordingly, in some embodiments,components of the one or more processors 202 and components of thememory 217 can be physically separated from one another. The phrase“communicatively coupled,” as used herein, means that components arecapable of exchanging data signals with one another such as, tierexample, electrical signals via conductive medium, electromagneticsignals via air, optical signals via optical waveguides, or the like.

Thus, embodiments of the present disclosure may comprise logic or analgorithm written in any programming language of any generation (e.g.,1GL, 2GL, 3GL, 4GL, or 5GL). The logic or an algorithm can be written asmachine language that may be directly executed by the processor, orassembly language, object-oriented programming (OOP), scriptinglanguages, microcode, etc., that may be compiled or assembled intomachine readable instructions and stored on a machine readable mediumsuch as computer readable medium 216. Alternatively or additionally, thelogic or algorithm may be written in a hardware description language(HDL). Further, the logic or algorithm can be implemented via either afield-programmable gate array (FPGA) configuration or anapplication-specific integrated circuit (ASIC), or their equivalents.

In embodiments, one or more warehouse maps 30 of the warehouseenvironment 150 (FIG. 1B) associated with a database 28 comprising oneor more speed zone locations Z1-Z4 in the warehouse environment 150 maybe stored in the memory 217. The system 200 can include one or moredisplays and/or output devices 204 such as monitors, speakers,headphones, projectors, wearable-displays, holographic displays, and/orprinters, for example. Output devices 204 may be configured to outputaudio, visual, and/or tactile signals and may further include, forexample, audio speakers, devices that emit energy (radio, microwave,infrared, visible light, ultraviolet, x-ray and gamma ray), electronicoutput devices (Wi-Fi, radar, laser, etc.), audio (of any frequency),etc.

The system 200 may further include one or more input devices 206 whichcan include, by way of example, any type of mouse, keyboard, disk/mediadrive, memory stick/thumb-drive, memory card, pen, touch-input device,biometric scanner, voice/auditory input device, motion-detector, camera,scale, and the like. Input devices 206 may further include cameras, suchas digital and/or analog cameras, still cameras, video cameras, thermalimaging cameras, infrared cameras, cameras with a charge-couple display,night-vision cameras, three dimensional cameras, webcams, audiorecorders, a laser scanner, a laser rangefinder, a 2D/3D mapping laser,a lidar, and the like. For example, an input device 206 may include thelocalization sensor 102′ such as the camera 102 described herein.

As is noted above, the materials handling vehicle 100 can comprise or becommunicatively coupled with the one or more processors 202.Accordingly, the one or more processors 202 can execute machine readableinstructions to operate or replace the function of the operatorcontrols. The machine readable instructions can be stored upon thememory 217. Accordingly, in some embodiments, the materials handlingvehicle 100 can be navigated automatically by the one or more processors202 executing the machine readable instructions. In some embodiments,the location of the materials handling vehicle 100 can be monitored bythe localization system as the materials handling vehicle 100 isnavigated.

For example, the materials handling vehicle 100 can automatically ormanually navigate along the inventory transit surface 122 of thewarehouse 110 along a desired path to a desired position based upon alocalized position of the materials handling vehicle 100. In someembodiments, the materials handling vehicle 100 can determine thelocalized position of the materials handling vehicle 100 with respect tothe warehouse 110. The determination of the localized position of thematerials handling vehicle 100 can be performed by comparing data. fromthe localization sensor 102′ to map data. In an embodiment, the datafrom the localization sensor 102′ as the camera. 102 may be image data.The map data can be stored locally in the memory 217 as one or morewarehouse maps 30, which can be updated periodically, or map dataprovided by a server or the like. In embodiments, an industrial facilitymap comprises a mapping of the one or more speed zones Z, Z1, Z2, Z3,and Z4 as stored in the database 28 as described herein. Specifically,the one or more processors 202 can execute machine readable instructionsto perform localization system functions and operate or assist withoperation of the materials handling vehicle 100.

In an embodiment, mapping of the one or more speed zones Z, Z1, Z2, Z3,and Z4 may occur through manual mapping utilizing a laser tool such as alaser range finder or laser distance meter or other suitable mappingscanning tools. In embodiments, utilized individual tags, such as MDtags as described herein, may be mapped utilizing same or similartechniques while further using an antenna to identify a location of theindividual tag.

Referring to FIG, 3, the system 200 is configured to implement a process300. As a non-limiting example, the process 300 may be a control schemeto determine through the one or more processors 202 followingmachine-readable instructions, and through localization techniques asdescribed herein, for example, a location of the materials handlingvehicle 100 in the warehouse environment 150 to determine a currentlocalized position of the materials handling vehicle 100 in thewarehouse environment 150. The speed zone sensing subsystem 106 that isconfigured to provide an indication of whether the materials handlingvehicle 100 is in a speed zone may use the current localized position incomparison to stored and/or sensed speed zone locations to make thisdetermination.

Thus, in an aspect, the process 300 determines whether the materialshandling vehicle 100 is in a speed zone Z based on the current localizedposition. As a non-limiting example, a navigation subsystem of thematerials handling vehicle 100 may comprise one or more environmentalsensors and an environmental database. In embodiments, the environmentalsensors are configured to capture data indicative of a position of thematerials handling vehicle 100 relative to the inventory transit surface122 in the warehouse 110. Further, the environmental database may resideon or be remote from the materials handling vehicle 100 and may comprisestored data. indicative of the one or more speed zones Z, Z1, Z2, Z3,and Z4, the inventory transit surface 122, or both. The navigationsubsystem may be configured to enable at least partially automatednavigation of the materials handling vehicle 100 along the inventorytransit surface 122 utilizing the captured data and the stored data. Forexample, and not by way of limitation., it is contemplated that thenavigation subsystem, the localization system, or both may utilize astored warehouse map 30 and captured images of ceiling lights 114 orskylights 116 to enable navigation, localization, or both, as isdisclosed in U.S. Pat. No. 9,174,830 issued on Nov. 3, 2015 , U.S. Pat.No. 9,340,399 issued on May 17, 2016, U.S. Pat. No. 9,349,181 issued onMay 24, 2016, U.S. Pat. No. 9,958,873 issued May 1, 2018, and othersimilar patents and patent publications. It is further contemplated thatthe navigation subsystem, a localization subsystem, or both may utilizea stored warehouse map 30 and a tag layout 50 disposed on the inventorytransit surface 122 as disclosed in U.S. Pat. No. 9,811,088 issued onNov. 7, 2017 (CRO 0056 PA), and other similar patents and patentpublications. Additional suitable environmental sensors include, but arenot limited to, inertial sensors, lasers, antennae for reading RFIDtags, buried wires, WiFi signals, or radio signals, global positioningsystem (UPS) sensors, global navigation satellite system (GNSS) sensors,ultra-wideband (UWB) sensors, or combinations thereof. By way of exampleand not as a limitation, UWB technology may be utilized forlocalization. UWB technology is a radio technology utilizing a lowenergy level for short-range, high-bandwidth communication over anultra-wide radio spectrum portion, such as 3.1 to 10.6 GHz. UWBtechnology may include a transmitter on the materials handling vehicle100 configured to transmit UWB transmissions for receipt by areceiver-anchor disposed in the warehouse environment 150. Such UWBtransmissions generate radio energy at specific time intervals whileoccupying a large bandwidth at low energy levels and enablepulse-position or time modulation, and may modulate transmittedinformation on UWB pulse signals. An ability for the UWB technology todetermine a time of flight of the transmission at different frequenciesmay assist with measuring distances at a high resolution and accuracyfor localization. In an embodiment, such UWB technology may be utilizedfor localization as a backup to another current localization system toprovide sufficient system redundancy and system self-checks in a mannerthat achieves a safety level required automatic control of the materialshandling vehicle 100.

In block 302, the vehicle operator is prompted to reduce a vehicle speedof the materials handling vehicle 100 to under a speed zone limit whenthe materials handling vehicle speed is approaching or in the speed zoneZ. The materials handling vehicle 100 may be considered to be “in” thespeed zone Z as described herein when the materials handling vehicle 100is partially or fully in the speed zone Z. The materials handlingvehicle 100 can be considered to be “approaching” a speed zone Z whenthe speed zone sensing subsystem 106 has detected the presence of thespeed zone Z and the operating conditions of the materials handlingvehicle 100 represent an operating condition where it is more likelythan not that the materials handling vehicle 100 will actually enter thespeed zone Z. Further, the speed control processor 104 may be configuredto prompt the vehicle operator to reduce the vehicle speed of thematerials handling vehicle 100 to under the speed zone limit when thevehicle speed is above the speed zone limit. The speed zone sensingsubsystem 106 may include an operator alert component that is configuredto alert the vehicle operator when the vehicle speed is above the speedzone limit, and the operator alert component may include a visual alert,an audible alert, or combinations thereof. By way of example, and not asa limitation, the visual alert may include a display on a display screenof the materials handling vehicle 100, and the audible alert may includean audible tone. When the vehicle speed is above the speed zone limit,the display for the visual alert may include a red display screen, aflashing display screen, a negative shape on the display, verbiageindicating speed overage, or combinations thereof. The negative shape onthe display may include an X, N, minus sign, or exclamation point. Theaudible alert may include a negative audible tone, which may include ahigh decibel sound provided by a horn for a period of time correspondingto an overage period in which the vehicle speed is above the speed zonelimit.

In embodiments, the process 300 alerts the vehicle operator that thematerials handling vehicle 100 is in the speed zone Z. The speed zonesensing subsystem 106 may include an operator alert component that isconfigured to alert the vehicle operator that the materials handlingvehicle 100 is in the speed zone Z. The operator alert component mayinclude a visual alert, an audible alert, a speed zone display on adisplay screen of the materials handling vehicle, or combinationsthereof. Additionally or alternatively, the operator alert component maybe configured to alert the operator when the vehicle speed is above thespeed zone limit. As a non-limiting example, the operator alertcomponent may be configured to alert the operator when the vehicle speedis above the speed zone limit by an overage speed in a range of betweenabout 0.4 mph and 1 mph, such as when the overage speed is approximately0.5 mph.

As a non-limiting example, the operator may be prompted through displayscreen alerts and/or audible tone based alerts that the materialshandling vehicle 100 is entering the speed zone Z. Further, an alert mayindicate to the operator that the vehicle is over the speed limit. In anembodiment, an alert such as a red display screen of a display screen ofthe materials handling vehicle 100 and/or a negative tone may indicateto the operator that the vehicle is over the speed limit by a thresholdwhich may be approximately 0.5 mph over the speed limit. Additionally oralternatively, the display screen may be flashing to indicate vehiclespeeding in the speed zone Z, may use a different color, or may use anegative shape such as X or N or a minus sign or exclamation point. Thenegative tone may be a high decibel sound such as one provided by ahorn, for instance, and may be provided for a period of time such as 10seconds, during intervals, or over a duration of the speed overageperiod. The display screen may additionally or alternatively displayverbiage indicating that the materials handling vehicle 100 is over thespeed limit associated with the speed zone Z while in the speed zone Z.The process 300 further alerts and prompts the vehicle operator toreduce vehicle speed of the materials handling vehicle 100 to under aspeed zone limit when the materials handling vehicle 100 is in the speedzone Z, Z1, Z2, Z3, and/or Z4. By way of example, and not as alimitation, each speed zone Z, Z1, Z2, Z3, and Z4 may include arespective speed zone limit different from the other speed zone limits,Further, each speed zone Z, Z1, Z2, Z3 may include other limits such aslift height restrictions and the like. In an embodiment, one or moreperformance settings of the materials handling vehicle 100 may beadjusted and/or restricted to limit speed of the materials handlingvehicle 100, such as slowing of an acceleration profile and/or liftingprofile of the materials handling vehicle 100, which may assist toincrease safety of the materials handling vehicle 100 in a high trafficarea, for instance. Similar restrictions may be imposed with respect tothe speed zones Z, Z1, Z2, Z3, and/or Z4 as set forth in U.S. Pat. No.9,811,088 issued on Nov. 7, 2017 (CRO 0056 PA), and other similarpatents and patent publications.

The speed zone sensing subsystem 106 may include one or more truck-basedsensors. A truck sensor of the one or more truck-based sensors may beconfigured to detect active or passive speed zone tags 60. A trucksensor of the one or more truck-based sensors may be configured forenvironmentally-based sensing of the speed zone Z. The one or moretruck-based sensors may be configured to detect active or passive speedzone tags 60, for environmentally-based sensing of the speed zone Z, orcombinations thereof. In embodiments, the speed zone sensing subsystem106 may include truck-based localization hardware configured to utilizewarehouse map resident on the vehicle or an external warehouse map tosense the speed zone 7 to then provide the indication of whether thematerials handling vehicle 100 is in the speed zone Z.

In block 304, the process 300, through the speed control processor 104,determines whether the vehicle speed is under the speed zone limit inthe speed zone Z. Upon a positive determination, the process may proceedto block 306.

In block 308, a vehicle speed cap is applied to limit a maximum vehiclespeed of the materials handling vehicle to a magnitude that is at orbelow the speed zone limit when the speed control processor hasdetermined that the vehicle speed is under the speed zone limit in thespeed zone. In this manner, by waiting for the vehicle speed to dropbelow the speed zone limit in this speed zone Z, the speed controltechnology of the present disclosure allows the operator of the vehicleto actively or passively contribute to the speed cap applicationprocess. In many cases, this will provide for a more gradual andoperator-friendly reduction in vehicle speed when the vehicle enters thespeed zone Z. The process 300 may thus use the speed control processor104 to apply a vehicle speed cap to the materials handling vehicle 100at the speed zone limit within the speed zone based on a speed reductionby the operator in the speed zone Z. The alert to the vehicle operatorthat the materials handling vehicle 100 is in the speed zone Z mayresult in the operator reducing the speed of the materials handlingvehicle 100, such as when the materials handling vehicle 100 isoperating at or above the speed zone limit, such that the operatorcontrols the reduction of the speed of the materials handling vehicle100. Once the speed of the materials handling vehicle 100 is reduced tobe operating within the speed zone limit, the vehicle speed cap isapplied to the materials handling vehicle 100 in block 308. Through suchselective application of a vehicle speed cap based on a speed reductionby the operator in the speed zone Z, the operator is able to maintain aspeed at or under the speed limit and not risk one or more operatordistractions that may result through, for example, watching the displayscreen of the vehicle while otherwise trying to maintain an uncappedspeed in the speed zone Z. Such a selective application may thusencourage safe operator habits over an operator reliance of automatedvehicle override of operator control with respect to vehicle speed whenentering a speed zone as the operator may maintain control of thevehicle speed upon speed zone entry.

Other parameters than speed that may be maintained at a cap while in thespeed zone may additionally or alternatively be, as non-limitingexamples, lift acceleration, lift speed, and/or vehicle accelerationthat may be limited or capped with respect to certain pre-defined areasof the warehouse environment 150 such as the warehouse 110. Thus, thespeed control processor 104 may rather act as an operation controlprocessor, and the speed zone sensing subsystem 106 may act asrestricted zone sensing subsystem. The operation control processor maythen be configured to prompt the vehicle operator to reduce an operationof the materials handling vehicle 100 to under an operation limit whenthe materials handling vehicle speed is approaching or in the restrictedoperation zone, determine whether the operation is under the operationlimit in the restricted operation zone, and apply an operation cap tolimit a maximum operation value of the materials handling vehicle 100 toa magnitude that is at or below the operation limit when the operationcontrol processor has determined that the operation is under theoperation limit in the restricted operation zone. As described abovewith respect to process 300, the restricted operation zone may be aspeed zone Z, the operation may be a vehicle speed, the operation limitmay be a speed zone limit, and the operation cap may be a vehicle speedcap. Additionally or alternatively, the operation may be a vehicleacceleration, a lift height, a lift speed, and/or a lift acceleration.The operation limit may then respectively be a vehicle accelerationlimit, a lift height restriction, a lift speed limit, or a liftacceleration. limit, and the operation cap may respectively be a vehicleacceleration cap, a lift height cap, a lift speed cap, or a liftacceleration cap.

In an embodiment, the operation control processor may be configured tooverride the operation cap applied to the materials handling vehicle 100at the operation limit within the restricted operation zone based on anoperator override action. The operator override action may includeapplication of a throttle neutral action, application of a brakingsystem, utilization of a dedicated override button, or combinationsthereof.

In an aspect, the speed cap may be overridden by the operator. By way ofexample and not as a limitation, the operator may initiate an overrideoperation through application of a throttle neutral action to releasethe speed cap. Alternatively, the override operation may includeapplication of a braking system to brake the materials handling vehicle100 and come to a complete stop or utilization of a dedicated overridebutton to override the speed cap application. In an embodiment in whichan erroneous prompt may be made outside of a speed zone Z and a speedcap applied, such as where a vehicle may become lost, the speed cap maybe maintained until the vehicle position is recovered or the operatormay override the speed cap through the override operation. In an aspect,the speed control processor 104 is configured to override the vehiclespeed cap applied to the materials handling vehicle 100 based on theoperator override action as described herein.

The speed zone sensing subsystem 106 may be configured to provide anindication of whether the materials handling vehicle 100 has exited oris approaching an exit of the speed zone Z. The speed control processor104 may be configured to release the vehicle speed cap when the speedzone sensing subsystem 106 provides the indication that the vehicle hasexited or is approaching an exit of the speed zone Z. The speed zonesensing subsystem 106 may include an operator alert component that isconfigured to alert the vehicle operator when the vehicle speed cap isreleased. The operator alert component may include a visual alert, anaudible alert, or combinations thereof, as described herein.

In an embodiment, a positive green display screen and a positive tonemay indicate to the operator that the operator is exiting the zonewithout a speed violation. The positive tone may be a light, low decibelbased tone such as a bell ding. Additionally or alternatively, thedisplay screen may use a different color, or may use a positive shapesuch as Y, a check mark, or a plus sign. Further, when the materialshandling vehicle 100 exits the speed zone Z, the process 300 mayautomatically release the speed cap and provide the operator with atleast one of a visual alert and audible indication that the speed cap isreleased and the materials handling vehicle 100 is exiting the speedzone Z. Thus, the operator will not need a throttle natural action torelease the speed cap as this release may be automatically performed.

Such speed management applications with respect to the materialshandling vehicle 100 and one or more speed zones Z, Z1, Z2 in awarehouse environment 150 as described herein provide a driverassistance function to prevent operator distraction while maintaining aspeed limit in the speed zone Z, Z1, Z2. Further, use of a tag layout 50associated with vehicle localization and/or speed zone mapping asdescribed herein may occur such as through use of a row of RFID tagsaround a perimeter of a speed zone Z, Z1, Z2. The speed managementapplications as described herein are suitable for in-aisle,out-of-aisle, large area speed zone, and other warehouse environmentarea applications. Interaction logic provided by the process 300 and theembodiments described herein directed to alerting the operator of amaterials handling vehicle 100 to slow down in a speed zone Z, Z1, Z2without an automatic braking through a system of the materials handlingvehicle 100, and subsequent application of a speed cap associated withthe speed zone Z, Z1, Z2, when the operator reduces the speed of thematerials handling vehicle 100 to be under the speed zone limit assiststhe operator in maintaining a safe and efficient speed in the speed zoneZ, Z1, and Z2 without adding to and rather preventing against operatordistraction during such speed maintenance.

For the purposes of describing and defining the present disclosure, itis noted that reference herein to a variable being a “function” of or“based on” a parameter or another variable is not intended to denotethat the variable is exclusively a function of or “based on” the listedparameter or variable. Rather, reference herein to a variable that is a“function” of or “based on” a listed parameter is intended to be openended such that the variable may be a function of a single parameter ora plurality of parameters.

It is also noted that recitations herein of “at least one” component,element, etc., should not be used to create an inference that thealternative use of the articles “a” or “an” should be limited to asingle component, element, etc.

It is noted that recitations herein of a component of the presentdisclosure being “configured” or “programmed” in a particular way, toembody a particular property, or to function in a particular manner, arestructural recitations, as opposed to recitations of intended use. Morespecifically, the references herein to the manner in which a componentis “configured” or “programmed” denotes an existing physical conditionof the component and, as such, is to be taken as a definite recitationof the structural characteristics of the component.

Having described the subject matter of the present disclosure in detailand by reference to specific embodiments thereof, it is noted that thevarious details disclosed herein should not be taken to imply that thesedetails relate to elements that are essential components of the variousembodiments described herein, even in cases where a particular elementis illustrated in each of the drawings that accompany the presentdescription. Further, it will be apparent that modifications andvariations are possible without departing from the scope of the presentdisclosure, including, but not limited to, embodiments defined in theappended claims. More specifically, although some aspects of the presentdisclosure are identified herein as preferred or particularlyadvantageous, it is contemplated that the present disclosure is notnecessarily limited to these aspects.

The invention claimed is:
 1. A materials handling vehicle configured tonavigate along an inventory transit surface in a warehouse environment,the materials handling vehicle comprising a speed control processor, aspeed zone sensing subsystem, a materials handling mechanism configuredto engage goods in the warehouse environment, a drive mechanismconfigured to move the materials handling vehicle along the inventorytransit surface, and vehicle control architecture in communication withthe drive mechanism, the materials handling mechanism, the speed zonesensing subsystem, and the speed control processor, wherein: the speedzone sensing subsystem is configured to provide an indication of whetherthe materials handling vehicle is in a speed zone; the speed controlprocessor is configured to determine whether a vehicle speed of thematerials handling vehicle is under a speed zone limit in the speedzone, apply a vehicle speed cap to limit a maximum vehicle speed of thematerials handling vehicle to a magnitude that is at or below the speedzone limit when the speed control processor has determined that thevehicle speed is under the speed zone limit in the speed zone, andrelease the vehicle speed cap when the speed zone sensing subsystemprovides an indication that the materials handling vehicle has exited oris approaching an exit of the speed zone.
 2. The materials handlingvehicle of claim 1, wherein the speed zone sensing subsystem comprisesan operator alert component that is configured to alert the vehicleoperator the materials handling vehicle is in the speed zone.
 3. Thematerials handling vehicle of claim 2, wherein the operator alertcomponent comprises a visual alert, an audible alert, or combinationsthereof.
 4. The materials handling vehicle of claim 2, wherein theoperator alert component comprises a speed zone display on a displayscreen of the materials handling vehicle.
 5. The materials handlingvehicle of claim 2, wherein the operator alert component is furtherconfigured to alert the operator when the vehicle speed is above thespeed zone limit.
 6. The materials handling vehicle of claim 2, whereinthe operator alert component is further configured to alert the operatorwhen the vehicle speed is above the speed zone limit by an overage speedin a range of between about 0.4 mph and 1 mph.
 7. The materials handlingvehicle of claim 6, wherein the overage speed is approximately 0.5 mph.8. The materials handling vehicle of claim 1, wherein the speed zonesensing subsystem comprises a truck-based sensor configured to detectactive or passive speed zone tags.
 9. The materials handling vehicle ofclaim 1, wherein the speed zone sensing subsystem comprises atruck-based sensor configured for environmentally-based sensing of thespeed zone.
 10. The materials handling vehicle of claim 1, wherein thespeed zone sensing subsystem comprises a truck-based localizationhardware configured to utilize warehouse map resident on the vehicle oran external warehouse map to sense the speed zone.
 11. The materialshandling vehicle of claim 1, wherein the speed control processor isconfigured to release the vehicle speed cap based on application of athrottle neutral action, and wherein the speed zone sensing subsystemcomprises an operator alert component that is configured to alert thevehicle operator when the vehicle speed cap is released.
 12. Thematerials handling vehicle of claim 11, wherein the operator alertcomponent comprises a visual alert, an audible alert, or combinationsthereof.
 13. The materials handling vehicle of claim 1, wherein thespeed control processor is configured to prompt a vehicle operator toreduce the vehicle speed of the materials handling vehicle to under thespeed zone limit when the vehicle speed is above the speed zone limit.14. The materials handling vehicle of claim 1, wherein the speed zonesensing subsystem is configured to provide an indication of whether thematerials handling vehicle is in the speed zone of a plurality of speedzones in the warehouse environment, each speed zone comprising a speedzone limit from a plurality of speed zone limits, and at least one speedzone limit is different from another speed zone limit of the pluralityof speed zone limits.
 15. The materials handling vehicle of claim 1,wherein the speed control processor is configured to override thevehicle speed cap applied to the materials handling vehicle based on anoperator override action, the operator override action comprisingapplication of the throttle neutral action, application of a brakingsystem, utilisation of a dedicated override button, or combinationsthereof.
 16. A materials handling vehicle configured to navigate alongan inventory transit surface in a warehouse environment, the materialshandling vehicle comprising a speed control processor, a speed zonesensing subsystem comprising one or more truck-based sensors, amaterials handling mechanism configured to engage goods in the warehouseenvironment, a drive mechanism configured to move the materials handlingvehicle along the inventory transit surface, and vehicle controlarchitecture in communication with the drive mechanism, the materialshandling mechanism, the speed zone sensing subsystem, and the speedcontrol processor, wherein: the speed zone sensing subsystem isconfigured to provide an indication of whether the materials handlingvehicle is in a speed zone, and the one or more truck-based sensors areconfigured (i) to detect active or passive speed zone tags, (ii) forenvironmentally-based sensing of the speed zone, or (iii) both; thespeed control processor is configured to determine whether a vehiclespeed of the materials handling vehicle is under a speed zone limit inthe speed zone, apply a vehicle speed cap to limit a maximum vehiclespeed of the materials handling vehicle to a magnitude that is at orbelow the speed zone limit when the speed control processor hasdetermined that the vehicle speed is under the speed zone limit in thespeed zone, and release the vehicle speed cap based on application of athrottle neutral action when the speed zone sensing subsystem providesan indication that the materials handling vehicle has exited or isapproaching an exit of the speed zone.
 17. A materials handling vehicleconfigured to navigate along an inventory transit surface in a warehouseenvironment, the materials handling vehicle comprising an operationcontrol processor, a restricted zone sensing subsystem, a materialshandling mechanism configured to engage goods in the warehouseenvironment, a drive mechanism configured to move the materials handlingvehicle along the inventory transit surface, and vehicle controlarchitecture in communication with the drive mechanism, the materialshandling mechanism, the restricted zone sensing subsystem, and theoperation control processor, wherein: the restricted zone sensingsubsystem is configured to provide an indication of whether thematerials handling vehicle is in a restricted operation zone; theoperation control processor is configured to determine whether anoperation of the materials handling vehicle is under an operation limitin the restricted operation zone, apply an operation cap to limit amaximum operation value of the materials handling vehicle to a magnitudethat is at or below the operation limit when the operation controlprocessor has determined that the operation is under the operation limitin the restricted operation zone, and release the operation cap when therestricted zone sensing subsystem provides an indication that thematerials handling vehicle has exited or is approaching an exit of therestricted operation zone.
 18. The materials handling vehicle of claim17, wherein the operation control processor is configured to release theoperation cap based on application of a throttle neutral action, andwherein the restricted operation zone is a speed zone, the operation isa vehicle speed, the operation limit is a speed zone limit, and theoperation cap is a vehicle speed cap.
 19. The materials handling vehicleof claim 17, wherein the operation is a vehicle acceleration, theoperation limit is a vehicle acceleration limit, and the operation capis a vehicle acceleration cap.
 20. The materials handling vehicle ofclaim 17, wherein the operation is a lift height or a lift speed or alife acceleration, the operation limit respectively is a lift heightrestriction or a lift speed limit or a lift acceleration limit, and theoperation cap respectively is a lift height cap or a lift speed cap or alift acceleration cap.